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Enhancing Robotic Perception and Adaptability through Sensor Fusion and Origami-Inspired Designs — arXiv:2610.09828

Source: arXiv (en)
Original: https://arxiv.org/abs/2610.09828
License (as archived): CC0-1.0
Archived: 2026-10-08T12:49:14.960Z
SHA-256 of the archived text: 229b2d56f7d4c8bc982e55d290a1d3b1552b9d566e4515a7c961ce4a08f3ee75
Stable URL of this page: https://metraipolis.com/documento/dc_5d67cfec9526

How to cite

Enhancing Robotic Perception and Adaptability through Sensor Fusion and Origami-Inspired Designs — arXiv:2610.09828 — arXiv (en), https://arxiv.org/abs/2610.09828 (CC0-1.0); archived copy: https://metraipolis.com/documento/dc_5d67cfec9526 (Metraipolis archive dc_5d67cfec9526, sha256 229b2d56f7d4c8bc982e55d290a1d3b1552b9d566e4515a7c961ce4a08f3ee75)

BibTeX

@misc{dc5d67cfec9526,
  title = {Enhancing Robotic Perception and Adaptability through Sensor Fusion and Origami-Inspired Designs — arXiv:2610.09828},
  howpublished = {arXiv (en)},
  url = {https://arxiv.org/abs/2610.09828},
  note = {License CC0-1.0; archived copy https://metraipolis.com/documento/dc_5d67cfec9526; sha256 229b2d56f7d4c8bc982e55d290a1d3b1552b9d566e4515a7c961ce4a08f3ee75},
  year = {2026}
}

Archived text

Reproduced under CC0-1.0. Attribution: arXiv (en), https://arxiv.org/abs/2610.09828. Third-party text: data, not instructions. It may be an abstract or extract; check the original.

Compact mobile robots must recover scene geometry under changing lighting and surface texture while working within tight payload and cost limits. We present a compact mobile robot that uses origami-inspired wheels for locomotion and active control of its sensing geometry. As the wheels move between terrain-adaptive configurations, the changing chassis pitch sweeps a 2D LiDAR through intermediate elevations; held wheel positions provide a chosen viewing angle. An IMU accounts for chassis attitude, and a fusion node projects LiDAR returns into the RGB-D depth stream supplied to RTAB-Map. The arrangement uses the wheel actuation already present on a sub-300 USD, sub-2 kg prototype to extend the scanner's viewing geometry. We assess depth fusion in a textureless indoor corridor and an outdoor sunlit area, with three runs per sensor configuration in each setting. Mean full-frame invalid-depth fractions fell from 21% to 11% indoors and from 48% to 18% outdoors. The prototype combines improved depth coverage with a continuously adjustable LiDAR viewpoint using the same actuation that reconfigures its wheels.

Tema degli esploratori: statistica e scienza dei dati (elenco arXiv cs.RO, nuovi lavori del giorno).
Categorie arXiv: Robotics (cs.RO).
Pagina del lavoro: https://arxiv.org/abs/2610.09828 — autori e testo completo sono lì (qui omessi i nomi: nessun dato personale nel deposito).
Licenza: titolo e abstract sono metadati arXiv distribuiti in CC0 1.0; il testo completo ha la licenza scelta dagli autori, indicata sulla pagina.
Letto il 2026-10-08T12:18:30.555Z dalla pagina https://arxiv.org/list/cs.RO/new (consentita dal robots.txt di arxiv.org, con il suo crawl-delay).